146 results about "Yaw system" patented technology

The invention relates to the technical field of new energy, and discloses an optimization method for an intelligent yaw system of a wind generating set, and the method comprises the steps: building the intelligent yaw system, enabling the system to be internally provided with seven modules, and enabling a multi-sensor data collection module to collect wind direction, wind speed and yaw angle data in real time, the data fusion module performs Kalman filtering fusion processing to obtain a high-confidence state estimation value, the intelligent decision output module generates an optimal yaw control instruction by adopting a multi-mode control strategy and a parameter self-adaptive mechanism based on fused data, an execution mechanism is driven to realize accurate wind alignment, and the system integrated hardware-in-the-loop test module is used for realizing accurate wind alignment. Omnibearing verification can be carried out before deployment, after actual operation, operation indexes are continuously monitored through the performance evaluation module, control parameters and fusion algorithm parameters are adjusted online through the optimization module on the basis of methods such as machine learning, closed-loop optimization is formed, finally, yaw precision, response speed and system stability are remarkably improved, and maintenance cost is reduced.

The invention provides a dynamic yaw error compensation method and system based on a cabin type wind lidar. The method comprises the following steps: firstly, acquiring three-dimensional wind field data at a preset distance in front of a wind turbine, simultaneously acquiring operation state parameters of the wind turbine, then extracting unstable transverse component and longitudinal velocity gradient distribution in an incoming wind flow direction, and then calculating a real-time yaw error amount caused by dynamic change of a wind field; and converting the real-time yaw error amount into a feed-forward compensation control signal by combining the dynamic response characteristic of the yaw system of the wind turbine, finally inputting the feed-forward compensation control signal into a main controller of the wind turbine, and adjusting an angle set value of the yaw system so as to complete yaw error compensation of the laser radar. According to the technical scheme, the alignment precision, the wind energy capturing efficiency and the operation stability of the wind generating set under the complex changing wind condition are improved, and high-precision and high-reliability compensation of the dynamic yaw error is achieved.

The utility model provides a yaw electromagnetic damping device and a yaw system of a wind generating set, the yaw electromagnetic damping device comprises: an electromagnet arranged on one of a tower drum and a main frame; the magnetic matching piece is arranged on the other one of the tower drum and the main rack, and the electromagnet and the magnetic matching piece can form magnetic attraction and / or repulsion in a power-on state; the power supply device is electrically connected with the electromagnet and can provide current for the electromagnet; and the control device is in signal connection with the power supply device and can control the output current of the power supply device. According to the yaw electromagnetic damping device provided by the embodiment of the invention, hydraulic oil leakage and dust cannot be generated, and environmental protection is facilitated; the friction plate or the sliding pad does not need to be replaced in the life cycle of the unit, so that the workload of the maintenance personnel is reduced, and the operation and maintenance cost is reduced; damage to the large yaw gear ring and the yaw motor can be reduced, and consumption of spare parts of a unit is reduced.

This utility model relates to the field of wind power yaw technology and discloses a waste oil collection device for the maintenance of a wind turbine yaw system. The device includes a yaw main wheel and a track component. The track component includes a calibration plate with a fixing groove at the top. A fixing component is inserted into the inner wall of the fixing groove, and a snap-fit ​​component is fixed to the bottom of the inner wall of the fixing groove. A snap-fit ​​groove is formed at the bottom of the fixing component, and the inner wall of the snap-fit ​​groove is snap-fitted to the surface of the snap-fit ​​component. A sloping shovel is fixed to the side of the fixing component away from the calibration plate, and a backhoe is fixed to the side of the sloping shovel closer to the bottom of the calibration plate. This utility model secures the fixing component to the fixing groove of the calibration plate, ensuring that the bottom of the sloping shovel and the backhoe are tightly fitted to the top of the calibration plate. Thus, during the forward rotation of the yaw main wheel, the sludge on the inner wall of the yaw main wheel is scooped up by the sloping shovel, and the backhoe similarly scoops up the sludge during the reverse rotation. Workers only need to clean the sloping shovel and backhoe periodically.

This invention relates to the field of wind power generation technology, specifically to a hydraulic control structure, a wind turbine yaw system, a control method, and a wind turbine generator set. The hydraulic control structure is suitable for connection to a yaw brake hydraulic circuit. The hydraulic control structure is configured such that: when the average wind speed within a preset time is greater than a preset wind speed, the output pressure of the hydraulic control structure is maintained at a preset pressure; and / or, when the average wind speed within a preset time is less than a preset wind speed and the power of the wind turbine generator set is less than a preset power, the output pressure of the hydraulic control structure changes proportionally between zero and the preset pressure. This invention can adjust the output pressure of the hydraulic control structure according to the wind speed, ensuring yaw stability, reducing wear on the yaw brake, and extending its service life.

This invention discloses an aerodynamic test bench adapted to horizontal / vertical axis wind turbines, including a base and a connecting column. The connecting column is located on top of the base, and a test platform is provided above the connecting column. The test platform includes a horizontal bar, and one end of the horizontal bar is provided with... T The horizontal bar has a vertical bar at the other end. T A square platform is mounted on top of the support frame; a dynamic torque sensor is mounted on the square platform, with one end connected to a magnetic powder brake and the other end connected to a wind turbine fixing rod. This invention also discloses an aerodynamic testing method adapted to horizontal / vertical axis wind turbines, including: wind turbine type adaptation installation, basic aerodynamic performance testing (no yaw), yaw condition aerodynamic performance testing, and variable load condition aerodynamic performance testing. T The bracket enables rapid switching between horizontal and vertical axis wind turbines. The combination of a precise yaw system and stepless load adjustment can simulate various complex working conditions such as constant wind speed with varying load and constant load with varying yaw angle.

This invention discloses a gear ring fixing structure for a combined drive yaw system of a wind turbine generator. The yaw system employs two yaw gear rings: an outer yaw gear ring and an inner yaw gear ring. The meshing surface of the outer yaw gear ring is the external tooth surface, and the meshing surface of the inner yaw gear ring is the internal tooth surface. Each of the two yaw gear rings is individually meshed and driven by an independent yaw motor. The gear ring fixing structure includes a gear ring fixing flange and friction gaskets. The inner yaw gear ring has a flange hole and is connected to the gear ring fixing flange by bolts. The outer yaw gear ring does not have a flange hole, and a friction gasket is placed between its bottom surface and the top surface of the gear ring fixing flange. The horizontal and vertical displacement of the outer yaw gear ring is restricted by the aforementioned bolts. The gear ring fixing flange is connected and fixed to the tower flange of the wind turbine generator by bolts. This invention effectively connects and fixes the two yaw gear rings without affecting installation and commissioning.

The invention discloses a yaw self-checking system and self-checking method for a wind generating set, and relates to the technical field of wind driven generators. The yaw self-checking system comprises a sensing system, a data collector and a data analysis module; the sensing system comprises displacement sensors and current sensors, the current sensors are installed on power supply lines of yaw driving motors, and each driving motor is provided with at least one current sensor; the displacement sensor is installed on a front rack of the wind generating set, the tooth top of a yaw bearing gear ring serves as an induction reflection face, and the displacement sensor is an eddy current sensor. The data acquisition unit is used for acquiring real-time current signals of each displacement sensor and each current sensor; the data analysis module is used for analyzing the real-time current signals of the displacement sensor and the current sensors collected by the data collector, obtaining a fault analysis result and sending the fault analysis result to the master control system. Through active driving detection in a shutdown state and in combination with synchronous analysis of current and displacement, accurate identification of yaw driving motor system faults and gear ring jumping can be realized, and early diagnosis and early warning of the faults of the yaw system are realized.

The invention relates to the technical field of generator fault prediction, in particular to an extreme weather power generation equipment fault prediction method based on a time sequence large model, and the method comprises the steps: synchronously collecting multiple parameters; judging an abnormal event; identifying trend types; risk level assessment; adjusting a dynamic threshold value; and risk sequence prediction and early warning. A plurality of parameters which are closely related to structural load, electrical disturbance and thermal-lubrication states are introduced through the three-axis vibration peak value in the middle of a blade, the oil viscosity of a gearbox, the current harmonic wave of a stator, the starting torque increment of a yaw system, the wind speed change rate of the top of a cabin and the temperature rise rate of a main shaft bearing; full-chain monitoring of the operation state of the wind turbine generator in the strong wind extreme weather is achieved, and the problems that due to incomplete monitoring parameter coverage and fixed threshold value setting, lubrication abnormity trend recognition lags behind in the extreme weather, fault early warning is not timely, and the unit shutdown loss is aggravated are effectively solved.

The invention discloses a wind turbine generator yaw control method, device and equipment and a medium, is applied to a wind turbine generator yaw system and relates to the field of automation, and the method comprises the steps that whether load reduction yaw is triggered or not is determined according to the running state of a wind turbine generator and environmental wind power data, if yes, a current target time node is recorded, and a corresponding load reduction preparation mark is set; determining whether a preset load shedding yaw condition is met or not based on the operation state of the wind turbine generator, the environmental wind power data, the target time node and the load shedding preparation mark, and setting the current load shedding yaw mark as a first mark or a second mark according to the met condition; if the mark is the first mark, directly executing the load reduction yaw operation, and if the mark is the second mark, adjusting the current rotating speed of the engine, and executing the load reduction yaw operation after the rotating speed is smaller than a preset rotating speed threshold value; and if the load shedding yaw operation is completed, setting the current load shedding yaw mark as a second mark. Therefore, yaw control can be carried out through an intelligent load reduction yaw control means.

This disclosure provides a hydraulic yaw system and a wind turbine generator set. The hydraulic yaw system includes: a hydraulic motor having a first inlet / outlet and a second inlet / outlet; a digital servo valve, with a first port and a second port connected to the second inlet / outlet and the first inlet / outlet, respectively; a mechanical feedback mechanism, with its input end connected to the output shaft of the hydraulic motor and its output end coupled to the valve core of the digital servo valve; a hydraulic drive module connected to a third port of the digital servo valve and supplying hydraulic oil to the hydraulic motor via the digital servo valve; and a hydraulic oil collection module connected to a fourth port of the digital servo valve. The hydraulic yaw system of this disclosure enables passive yaw in the event of a power outage.

The invention provides a method and a device for fault diagnosis of a yaw system in a wind turbine, and relates to the technical field of wind turbines. The method comprises the following steps: acquiring monitoring data collected in a yaw system, inputting the monitoring data into a yaw fault diagnosis model, and outputting a fault diagnosis result, wherein the fault diagnosis model is obtained by training known fault diagnosis results and corresponding monitoring data, and the fault diagnosis result comprises at least one of the following: the position of a yaw sensor is shifted, the yaw sensor is damaged, the yaw contactor is stuck, the hardware of a yaw motor / reducer is damaged, and the yaw motor is braked, In the working process, the monitoring data collected by the yaw system can be input into the yaw fault diagnosis model in real time, and the yaw fault diagnosis model can be used to determine whether the yaw system has a fault and the specific fault diagnosis results when the fault occurs. In this way, the operation and maintenance personnel can be prevented from going to the aircraft seat for inspection, and the fault diagnosis efficiency of the yaw system can be improved.

The invention relates to the technical field of wind power transmission, and provides a yaw composite cable for a wind turbine generator, which comprises a flexible loading framework, and a power transmission unit and a plurality of signal control transmission units which are loaded on the inner side of the flexible loading framework, and is characterized in that the flexible loading framework is formed by alternately connecting a plurality of chain link units and steering units; the chain link units can rotate along the connecting ends of the steering units, and the rotating planes of the chain link units at the two ends of each steering unit are perpendicular to each other. According to the yaw composite cable for the wind turbine generator, the multi-direction bending flexibility of the composite cable is remarkably improved, the yaw composite cable is suitable for the long-term, slow-speed and large-stroke reciprocating motion working condition of a yaw system of the wind turbine generator, and the problem of early failure caused by stress concentration and uncontrollable bending of a traditional yaw cable is fundamentally solved; and the service life of the wind turbine generator is prolonged.

The invention discloses a yaw reverse blow-off identification and control method and system for a wind generating set, and the method comprises the steps: obtaining the operation data of a yaw system after a yaw demand is finished, and the operation data comprise a yaw state, a braking system parameter and an environment parameter; calculating angle variation and cabin movement acceleration; the wind direction angle and the target yaw angle form an included angle gt; at 2 degrees, calculating a reverse wind load, and calculating a braking efficiency coefficient; dividing risk grades based on the angle variation, the reverse wind load, the braking efficiency coefficient, the cabin moving speed, the yaw motor rotating speed and the yaw motor current, wherein the risk grades comprise no risk, early warning risk, high risk and emergency risk; and executing a corresponding control measure according to the judged risk level. According to the method, the problem of uncommanded cabin deviation caused by complex working conditions after the yaw requirement of the wind generating set is finished is solved.

The invention relates to the technical field of wind power generation, in particular to an anomaly monitoring method and system for a wind power generation yaw system based on deep learning. The method comprises the steps that multi-mode operation data of a yaw system of the wind driven generator are acquired and preprocessed, and an initial data set is obtained; extracting features for effectively distinguishing the normal state and the abnormal state of the yaw system from the initial data set, and comparing the features to obtain a target data set; dividing the target data set into a training set, a verification set and a test set; the training set is input into a pre-trained Transform model for model training, and a yaw system anomaly monitoring model is obtained; and inputting the verification set and the test set into a yaw system anomaly monitoring model for model evaluation, and obtaining a yaw system anomaly monitoring result. According to the anomaly monitoring method, the multi-mode operation data are fused and input into the yaw system anomaly monitoring model, the anomaly condition of the yaw system can be accurately captured, and the model has high generalization ability and expandability.

The invention discloses a yaw gear ring and brake mechanism of a wind driven generator, and relates to the field of yaw system application of the wind driven generator, the yaw gear ring and brake mechanism comprises a tower body and a tower cabin, a plurality of groups of hydraulic calipers are mounted at the bottom of the tower cabin, a brake disc is mounted on the inner side of the tower body by arranging a column foot, an embedding groove is formed in the top of the tower body, and an annular frame is mounted in the embedding groove; an annular pipe is embedded in the annular frame, and a plurality of sets of air nozzles are evenly formed in the inner side and the outer side of the annular pipe. The annular frame is arranged on the surface of the brake disc to install the annular pipe, the annular pipe is used for conducting air injection treatment on the surface of the brake disc, a certain heat dissipation effect can be achieved, the risk of thermal deformation of the brake disc caused by friction is reduced, oil dripping on the surface of the brake disc can be blown away through air injection treatment, and the retention time of leaked oil is shortened; and through air injection treatment, fixed particles falling off from the friction plate of the brake calipers can be blown away in time, and secondary scratching of the fixed particles to the surface of the brake disc is reduced.

The invention provides an anti-lightning protection method and system for a wind turbine generator. The method comprises the steps that S1, an electric field sensor is used for monitoring the intensity of an environment electric field; s2, when the environment electric field intensity exceeds a first-level early warning threshold value, a loop resistance detection unit is started, and ground resistance values of lightning protection channels of three blades of the wind turbine generator set are detected respectively; s3, classifying the three blades according to the resistance to ground values, and screening out a preferable lightning receiving blade; s4, continuously monitoring the environment electric field intensity, and executing a shutdown lightning protection strategy when the environment electric field intensity exceeds a second-level action threshold value; and S5, in the shutdown lightning protection strategy, a yaw system and a variable pitch system of the wind turbine generator are controlled, the screened optimal lightning receiving blade is locked at a vertically upward position to serve as a target lightning receiving blade, and an auxiliary grounding device installed between the main shaft and the tower drum is closed. According to the method, the blade in the optimal state can be selected as the lightning arrester through self-inspection, and the posture of the unit is adjusted to achieve optimal drainage.

The invention provides a fault protection method, device and equipment for a wind generating set, and the method comprises the steps: controlling and executing a fault protection strategy under the condition of determining that the wind generating set has a target fault; wherein the target fault comprises a blade paddle clamping fault and / or an impeller overspeed fault, and the fault protection strategy comprises the following steps of simultaneously executing the following operations: controlling the rotating speed of the wind generating set to be gradually reduced through torque until the rotating speed is reduced to a target rotating speed value; a variable pitch system of the wind generating set is controlled to execute a pitch retracting operation until a blade pitch angle is a target angle; and a yaw system of the wind generating set is controlled to execute yaw operation until the wind deviation angle between the axis of a wind wheel and the wind direction is the target wind deviation angle. By the adoption of the technical scheme, the loads of the impeller and the yaw system can be effectively reduced, and the cost of the whole machine is reduced while safety is guaranteed.

The invention provides an abnormal sound diagnosis method and device for a wind turbine generator yaw system, equipment and a medium. The abnormal sound diagnosis method comprises the steps that operation data and environment working condition data associated with a current yaw event are collected; according to the state flag bit of the current yaw event, dividing the operation data into data of a plurality of yaw stages and non-yaw stages; extracting multi-dimensional state features of the data in each stage; determining a current working condition type based on a preset working condition type and the current environment working condition data; carrying out decoupling processing on the multi-dimensional state features of each stage according to the current working condition type, and generating a working condition decoupling feature vector corresponding to each stage; and based on the working condition decoupling feature vector corresponding to each stage, determining the fault root cause of the abnormal sound of the yaw system by using a preset root cause judgment rule. Characteristics based on diagnosis only reflect the real abnormal degree under the same working condition and the same stage, and the positioning precision of the yaw abnormal sound root cause is remarkably improved.

The application provides a wind turbine semi-physical simulation method and device, which comprises the following steps: transmitting the obtained historical operation data of the wind turbine to a simulation platform master PLC system; the simulation platform master PLC system gives the variable pitch system and the yaw system action instructions according to the received historical operation data; the variable pitch system and the yaw system respectively execute corresponding experimental actions according to the received action instructions, and feed back the corresponding experimental actions to the simulation platform master PLC system; the simulation master PLC system compares the received experimental actions with the actual field instructions in the historical operation data, and obtains an error rate; and the action instructions sent by the simulation platform master PLC system are corrected according to the error rate. The method can improve the stability of the core controller of the wind turbine, shorten the development cycle, reduce the development cost, comprehensively and systematically evaluate the control strategy and optimize the control algorithm, and guarantee the safety of the unit and improve the power generation performance of the unit.

The invention discloses a wind turbine generator cooperative control method and device, equipment and a storage medium, and relates to the technical field of power generation control, and the method comprises the steps: obtaining the real-time operation parameters of a wind turbine generator; determining a control instruction set based on the real-time operating parameters; according to the control instruction set, a variable pitch system, a yaw system and a converter in the wind turbine generator are synchronously adjusted, so that tracking of the variable pitch system on wind condition data, inhibition of the yaw system on transmission chain load data and response of the converter on a power grid dispatching instruction are coordinated. The method can coordinate and balance the restriction relation between different targets in real time, effectively avoids the situation that other targets are excessively sacrificed for a single target, and finally achieves the overall optimization and collaborative improvement of the operation safety, the structural reliability and the energy conversion efficiency of the wind turbine generator under the complex wind conditions and power grid requirements.

The utility model relates to a yaw braking device, a yaw system and a wind generating set, the yaw braking device comprises a caliper body, an elastic friction assembly and an adjusting assembly, the caliper body is provided with a mounting through hole, and the elastic friction assembly is arranged in the mounting through hole and comprises a friction plate, a guide piece and an elastic piece; the guide part comprises an abutting part and a guide part which are connected, the abutting part abuts against the friction plate, the guide part is arranged in a protruding mode from the abutting part to the direction away from the friction plate, the guide part is sleeved with the elastic part, and at least part of the adjusting assembly is arranged in the mounting through hole; the adjusting assembly and the abutting part are oppositely arranged in the axial direction of the mounting through hole and clamp and fix the elastic piece, and the adjusting assembly has the moving freedom degree relative to the caliper body in the axial direction so as to abut against the elastic piece and enable the friction plate to make friction contact with the to-be-braked part. The yaw braking device is simple in structure, the weight of the yaw braking device can be reduced, and the manufacturing cost of the yaw braking device can be reduced.

A system and method reduce vibrations in a blade mounted on a hub of a wind turbine rotor when the rotor is in a limited yaw capacity state with a defined allowable yaw sweep. An allowable yaw sweep is defined for the limited yaw capacity state. A sensor in communication with a controller monitors for vibrations in the blade with the rotor at an initial yaw position. Upon detection of vibrations, the controller determines a yaw sweep sector that is within and less than the allowable yaw sweep and issues a command to a yaw system to yaw the rotor in a continuous back and forth manner in the yaw sweep sector. The controller continues to monitor for vibrations in the blade during or after the continuous yawing of the rotor and stops the continuous yawing of the rotor when the blade vibrations reduce to below the threshold level.

The invention relates to the field of wind power generation, in particular to a wind turbine generator yaw static error correction method and system based on a multi-beam laser radar. The method comprises the following steps: S1, scanning a wind field area in front of an impeller of a generator set through a multi-beam wind measurement laser radar mounted in a cabin of the wind turbine generator set to obtain parameter information of a plurality of spatial points; s2, performing fitting calculation on the parameter information system to obtain a fitting circle representing a horizontal wind vector of the wind field area, and solving the fitting circle to obtain a free flow wind direction; s3, the free flow wind direction is compared with the current cabin orientation, and a real-time static yaw error angle is obtained through calculation; generating a yaw control instruction according to a preset control strategy; s5, solving and calculating the fitting circle to obtain a transverse wind component, and correcting the yaw control instruction; according to the method, the control instruction is generated through the control strategy to drive the yaw system to perform dynamic compensation, so that the wind turbine generator can continuously maintain the optimal windward attitude, and the stability and long-term effectiveness of control are ensured.

The utility model relates to the technical field of wind power generation, in particular to a super-capacitor-based auxiliary power supply device for a yaw system of a wind turbine generator. The device comprises a main circuit; the main circuit comprises a wind turbine generator main power supply, a charging module, a super capacitor module, a yaw motor driving module and a yaw motor which are connected in sequence; the charging module is used for converting alternating current supplied by a main power supply of the wind turbine generator into direct current; the super capacitor module is used for storing direct current and providing electric energy for the yaw motor driving module; and the yaw motor driving module is used for converting the electric energy into a driving signal required by a yaw motor. According to the utility model, auxiliary power supply is provided for the yaw motor through the super capacitor module, the problem of insufficient power supply of the yaw system of the wind turbine generator set under the instantaneous high-power requirement is effectively solved, and the response speed and the stability of the yaw system are improved.

The invention relates to the operation of a wind turbine in adverse weather conditions. A method of operating a wind turbine (1) comprising a nacelle (3) coupled to a tower (2) via a yaw system (4) is described, the method for providing protection against high wind loads, the method comprising: providing a control signal (10) to a yaw actuator of the yaw system (4) when the nacelle (3) is in a first orientation; applying a torque (11) by the yaw actuator (4) to the nacelle (3) relative to the tower (2) thereby causing the nacelle (3) to turn to a second orientation, the second orientation being a downwind orientation.

This invention relates to the field of wind power control technology, and proposes a method, system, equipment, and medium for active yaw load reduction control of wind turbine generators. Before the wind turbine generator executes a yaw action, the required yaw torque is calculated, and a load reduction threshold determined by the maximum yaw torque of a benchmark turbine under the same operating conditions is used to determine whether the current yaw torque is within the load reduction range. If it is within the load reduction range, a corresponding load reduction power target value is matched according to the percentage of yaw torque, and the actual power of the wind turbine generator is smoothly adjusted to the load reduction power target value according to a preset power change rate and a set conversion time. This allows the generator to reduce other operating power or non-yaw workloads before the yaw action is executed, reserving sufficient power and drive margins for the yaw system. This ensures that the yaw reducer can still obtain the output capacity required for yaw action when facing large yaw torque demands, avoiding insufficient yaw execution capability due to excessive occupancy of other working power.

The invention belongs to the technical field of intelligent control of wind generating sets, and particularly relates to a self-adaptive yaw control method and device based on fuzzy logic and a medium, and the method comprises the steps of collecting and preprocessing unit operation data, and calculating the absolute wind direction, the wind direction deviation and the turbulence intensity. A virtual yaw system is constructed, and an initial fuzzy rule base and a membership function are established by taking wind direction deviation, wind speed and turbulence intensity as input and taking a yaw control instruction as output. And a genetic algorithm is adopted to code and iteratively optimize the fuzzy rule combination and membership function parameters, and optimal control parameters are obtained by taking maximization of wind energy utilization and meeting of yaw frequency constraints as targets. Finally, the optimal parameters are migrated to an actual fan controller, and real-time self-adaptive yaw control is achieved. The yaw control instruction can be accurately generated according to the real-time wind condition and the unit state, the wind energy utilization rate is increased under the condition that the yaw frequency constraint is met, yaw control over the wind turbine unit is achieved, and the power generation efficiency is improved.

The invention provides a method and a device for fault diagnosis of a yaw system in a wind turbine, and relates to the technical field of wind turbines. The method comprises the following steps: acquiring monitoring data collected in a yaw system, inputting the monitoring data into a yaw fault diagnosis model, and outputting a fault diagnosis result, wherein the fault diagnosis model is obtained by training known fault diagnosis results and corresponding monitoring data, and the fault diagnosis result comprises at least one of the following: the position of a yaw sensor is shifted, the yaw sensor is damaged, the yaw contactor is stuck, the hardware of a yaw motor / reducer is damaged, and the yaw motor is braked, In the working process, the monitoring data collected by the yaw system can be input into the yaw fault diagnosis model in real time, and the yaw fault diagnosis model can be used to determine whether the yaw system has a fault and the specific fault diagnosis results when the fault occurs. In this way, the operation and maintenance personnel can be prevented from going to the aircraft seat for inspection, and the fault diagnosis efficiency of the yaw system can be improved.